Cart for robotic arms and method and apparatus for cartridge or magazine loading of arms

ABSTRACT

Apparatus and methods for providing a robotic arm cart for transporting, delivering, and securing robotic arms to a surgical table having a tabletop on which a patient can be disposed are described herein. In some embodiments described herein an arm cart can contain multiple robotic arms. A robotic arm can be selected and moved from a storage position within the arm cart to a deployment position in which at least a portion of that robotic arm protrudes from the arm cart. A robotic arm in a deployment position can be coupled to a surgical table and decoupled from the arm cart.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a divisional application of U.S. patent applicationSer. No. 15/785,291, filed on Oct. 16, 2017, which claims priority toU.S. Patent Application Ser. No. 62/522,494, filed on Jun. 20, 2017,which are hereby incorporated by reference in their entireties.

BACKGROUND

Embodiments described herein relate to apparatus and methods for arobotic arm cart for transporting, delivering, and securing robotic armsto, for example, a surgical table.

SUMMARY

Apparatus and methods for providing a robotic arm cart for transporting,delivering, and securing robotic arms to a surgical table having atabletop on which a patient can be disposed are described herein. Insome embodiments described herein an arm cart can contain multiplerobotic arms. A robotic arm can be selected and moved from a storageposition within the arm cart to a deployment position in which at leasta portion of that robotic arm protrudes from the arm cart. A robotic armin a deployment position can be coupled to a surgical table anddecoupled from the arm cart.

BRIEF DESCRIPTION OF THE DRAWINGS

FIGS. 1A and 1B are a schematic side view and a schematic top view,respectively, of a surgical table, according to an embodiment.

FIG. 1C is a schematic side view of a robotic arm, according to anembodiment, shown in an extended or use configuration; and FIG. 1D is aschematic side view of the robotic arm of FIG. 1C, shown in a collapsedor folded configuration.

FIG. 2A is a schematic top view of a surgical table with robotic armscoupled thereto, according to an embodiment.

FIG. 2B is a schematic top view of a surgical table with robotic armsand an arm adapter coupled thereto, according to an embodiment.

FIG. 3A is a schematic illustration of an arm cart, according to anembodiment.

FIGS. 3B-3G are schematic side views of an arm cart having robotic armsin various configurations, according to an embodiment.

FIGS. 4A and 4B are schematic illustrations of an arm cart havingrobotic arms in two configurations, according to an embodiment.

FIG. 5 is a flowchart of a method of transporting and transferringsurgical robotic arms to a surgical table using a surgical robotic armcart, according to an embodiment.

FIGS. 6A and 6B are front schematic illustrations of an arm cart havinga rotary mechanism in two configurations according to an embodiment.

FIG. 6C is a side schematic illustration of the arm cart of FIGS. 6A and6B with the rotary mechanism in the configuration shown in FIG. 6B.

FIG. 6D is a schematic illustration of the rotary mechanism and arobotic arm of FIGS. 6A-6C.

FIG. 6E is a schematic illustration of the arm cart of FIGS. 6A-6Dshowing a surgical table.

FIG. 6F is a flowchart of a method of transferring surgical robotic armsto a surgical table using a surgical robotic arm cart, according to anembodiment.

FIGS. 7 and 8 are schematic illustrations of arm cartridge configured tocontain a robotic arm, according to two embodiments

FIG. 9 is a schematic illustration of an arm cart, according to anembodiment.

DETAILED DESCRIPTION

Apparatus and methods for providing a robotic arm cart for transporting,delivering, and securing robotic arms to a surgical table having atabletop on which a patient can be disposed are described herein. Insome embodiments, an apparatus includes an arm cart that can receive andcontain multiple robotic arms. Robotic arms within the arm cart can beoperable to move between storage positions and deployment positions. Forexample, robotic arms in storage positions can be entirely disposedwithin the arm cart, while a robotic arm in a deployment position can atleast partially protrude from the arm cart. In some embodiments, roboticarms can be vertically disposed in the storage position and pivoted intoa horizontal position such that the robotic arm can be coupled to asurgical table. In other embodiments, a rotary mechanism cansimultaneously rotate multiple robotic arms to place a selected roboticarm in a deployment position. Once in the deployment position, therobotic arm can be slid towards the surgical table where that roboticarm can mate with a port or other suitable connecting point. The roboticarm can then be decoupled from the arm cart, and the arm cart can bewithdrawn.

As shown schematically in FIGS. 1A-1B, a surgical table 100 includes atabletop 120, a table support 122 and a table base 124. The tabletop 120has an upper surface on which a patient P can be disposed during asurgical procedure, as shown schematically in FIG. 1A. The tabletop 120is disposed on the support 122, which can be, for example, a pedestal,at a suitable height above the floor. The support 122 (also referred toherein as a pedestal) may provide for movement of the tabletop 120 in adesired number of degrees of freedom, such as translation in thevertical or Z-direction (height above the floor), the horizontalY-direction (e.g., along the longitudinal axis of the table), and/or thehorizontal X-direction (e.g., along the lateral axis of the table),and/or rotation about Z-, Y-, and/or X-axes. The tabletop 120 may alsoinclude multiple sections that are movable relative to each otheralong/about any suitable axes, e.g., separate sections for each of thetorso, one or both legs, and/or one or both arms, and a head supportsection. Movement of the tabletop 120 and/or its constituent sectionsmay be performed manually, driven by motors, controlled remotely, orthrough any other suitable means. The support 122 for the tabletop 120may be mounted to the base 124, which can be fixed to the floor of theoperating room, or can be movable relative to the floor, e.g., by use ofwheels on the base 124. In some embodiments, the height of the support122 can be adjusted, which together with, for example, the motion (e.g.,axial (longitudinal) or lateral motion) of the tabletop 120, can allowfor the tabletop 120 to be positioned at a desired surgical site at acertain height above the floor (e.g., to allow surgeon access) and acertain distance from the support 120. This also can allow robotic arms(e.g., arms 130 discussed below) coupled to the table 100 to reach adesired treatment target on a patient P disposed on the tabletop 120.

In a robotically-assisted surgical procedure, one or more robotic arms130 (shown schematically in FIGS. 1C and 1D) can be disposed in adesired operative position relative to a patient disposed on thetabletop 120 of the surgical table 100 (also referred to herein as“table”). The robotic arm(s) can be used to perform a surgical procedureon a patient disposed on the surgical table 100. In particular, thedistal end of each robotic arm can be disposed in a desired operativeposition so that a medical instrument coupled to the distal end of therobotic arm can perform a desired function.

As shown schematically in FIGS. 1C and 1D, each robotic arm 130 caninclude a distal end portion 137 and a proximal end portion 136. Thedistal end portion 137 (also referred to herein as “operating end”) caninclude or have coupled thereto a medical instrument or tool 115. Theproximal end portion 136 (also referred to herein as the “mounting endportion” or “mounting end”) can include the coupling portion to allowthe robotic arm 130 to be coupled to the table 100. The robotic arm 130can include two or more link members or segments 110 coupled together atjoints that can provide for translation along and/or rotation about oneor more of the X, Y and/or Z axes (shown, for example, in FIGS. 1A and1B). The coupling portion of the robotic arm 130 can include a couplingmechanism 139. The coupling mechanism 139 can be disposed at themounting end 136 of the arm 130 and may be coupled to a segment 110 orincorporated within a segment 110. The robotic arm 130 also includes atarget joint J1 disposed at or near the mounting end 136 of the roboticarm 130 that can be included within the coupling mechanism 139 and/orthe coupling portion or can be disposed on a link or segment 110 of therobotic arm 130 that is coupled to the coupling portion. The targetjoint J1 can be operable to allow a distal segment of the robotic arm130 to pivot and/or rotate relative to the table 100. The robotic arm130 can be moved between various extended configurations for use duringa surgical procedure, such as shown in FIG. 1C, and various folded orcollapsed configurations for storage when not in use, such as shown inFIG. 1D.

FIGS. 2A-2B illustrate various embodiments describing apparatus andmethods for transporting, delivering, and securing a robotic arm to asurgical table. As described above and in accordance with variousembodiments disclosed in more detail below, a robotic arm for use inperforming a surgical procedure may be releasably coupled to a surgicaltable. In some embodiments, robotic arms can be coupled at a fixedlocation on the table or can be coupled such that the robotic arms canbe movable to multiple locations relative to the tabletop. For example,as shown schematically in FIG. 2A, robotic arms 230 can be coupled to atabletop 220 of a surgical table 200. The surgical table 200 can be thesame or similar in structure and function to the surgical table 100described above. For example, the tabletop 220 has an upper surface onwhich a patient P can be disposed during a surgical procedure. In someembodiments, the robotic arms 230 can be permanently or releasablycoupled, in a fixed or movable location, to an arm support (alsoreferred to herein as an arm adapter) that is coupled to or separatefrom the surgical table. For example, as shown schematically in FIG. 2B,an arm adapter 246 can be coupled to or separate from but engageablewith or coupleable to the tabletop 220. The robotic arms 230 can becoupled to the arm adapter 246.

In preparation for a robotically-assisted surgical procedure in whichone or more robotic arms are releasably coupled to the surgical tableand/or to an arm adapter, as described with respect to FIGS. 2A and 2B,each robotic arm may be delivered and connected to the surgical tableand/or the arm adapter via an arm cart. An arm cart can be configured tosupport one or more robotic arms. Arm carts, according to variousembodiments are described in further detail below.

FIGS. 3A-3G depict various configurations of an arm cart 350, accordingto an embodiment. The arm cart 350 is configured to contain one or morerobotic arms 330 or cartridges containing robotic arms. Although tworobotic arms 330 are shown, the arm cart 350 can be configured tocontain, transport, and/or deliver any suitable number of robotic arms330, such as, for example, one robotic arm, three robotic arms, or fourrobotic arms.

As shown, in FIG. 3A, the arm cart 350 includes wheels 366 and a frontportion 364 and a back portion 362. The arm cart 350 can be intended tobe pushed and/or pulled from the back portion 362; for example, the backportion 362 can include a handle 362. The arm cart 350 can be operableto store the robotic arms 330 when not in use and/or transport therobotic arms 330 between storage and surgical tables, such as surgicaltable 100. As described in further detail herein, the front portion 364of the arm cart 350 can be positioned adjacent to the surgical table(e.g., the front portion 364 can be disposed between the back portion362 and the surgical table), and one or more of the robotic arms 330 canbe transferred from the arm cart 350 to the surgical table.

As shown in FIGS. 3B-3G, a first robotic arm 330A and a second roboticarm 330B are slideably disposed within the arm cart 350. Similarlystated, the first robotic arm 330A and the second robotic arm 330B aremovable in an X-direction, that is, between the front portion 364 andthe back portion 362 of the arm cart 330. Although FIGS. 3B-3Gillustrate an X-axis, it should be understood that this X-axis, is notnecessarily identical to the X-axis depicted in FIG. 1B. Similarlystated, the X-direction in FIGS. 3B-3G can represent any suitablehorizontal direction. In addition or alternatively, first robotic arm330A and/or the second robotic arm 330B can also be rotatably disposedwithin the arm cart 350.

The arm cart 350 can support the robotic arms 330 in a variety ofconfigurations. In some embodiments and/or configuration, the arm cart350 can support the robotic arms 330 such that the center of gravity ofthe robotic arm 330A is below one or more support structure locations(e.g., cradles) of the arm cart 350 such that the stability of therobotic arm 330A and the arm cart 350 is increased. In some embodiments,the arm cart 350 can support the robotic arms 330 such that the arm cart350 bears most or all of the weight of the robotic arms 330 and acoupling mechanism (not shown) of the robotic arms 330 can be manuallymanipulated by a user without the user bearing most or all of the weightof the robotic arm. For example, the robotic arms 330 can be suspendedfrom a structure of the arm cart 350 or rested on a structure of the armcart 350. In some embodiments, the arm cart 350 can be configured tosecure the robotic arms 330 to the arm cart 350.

The arm cart 350 can include an arm container 352 and a base 354. Thearm container 352 is configured to support, protect, and/or promotesterility for one or more robotic arms 330 (e.g., the first robotic arm330A and the optional second robotic arm 330B) during storage and/ortransportation of the robotic arms 330, for example, from a storage areato the operating area, and during transfer of the one or more roboticarms 330 from the arm cart 350 to a surgical table for use during thesurgical procedure. While the one or more robotic arms 330 are storedand/or transported by the arm cart 350, the one or more robotic arms 330can be mostly, substantially completely, or completely maintained withinthe footprint of the arm cart 350 such that the one or more robotic arms330 will be less likely to be accidentally bumped or damaged. In someembodiments, the arm container 352 can be structured as avertically-extending protection frame that, in combination with the base354, defines a space for storing the one or more robotic arms 330. Insome embodiments, when the one or more robotic arms 330 are storedwithin the arm cart 350, the robotic arms can be maintained within theperimeter of the base 354, but may extend beyond the perimeter of thearm container 352.

The base 354 can be configured to support the arm container 352 andprovide transportation of the arm cart 350 to the surgical area. Thebase 354 can include any suitable means for movement of the arm cart 350relative to the floor. For example, the base 354 can include wheels 366such that a medical provider can push/pull the arm cart to/from theoperating area.

The arm cart 350 can include features that assist in aligning the one ormore robotic arms 330 for transfer to the surgical table along the X, Y,and/or Z axes and/or rotationally about the X, Y, and/or Z axes. Forexample, as described above, the base 354 can include any suitable meansfor movement of the arm cart 350 such that the arm cart 350 can be movedalong the X axis and/or the Y axis relative to the surgical table.Additionally, the arm cart 350 can include any suitable means foradjusting the height of the arm cart 350 and/or the one or more roboticarms 330 such that the height of the one or more robotic arms 330 can beadjusted relative to the surgical table. Thus, the arm cart 350 can movethe one or more robotic arms 330 along the X, Y, and/or Z axes and/orrotationally about the X, Y, and/or Z axes such that a coupling portionof at least one of the one or more robotic arms 330 can be aligned forengagement with a mating coupling portion on a table or a table adapter.

In some embodiments, the arm cart 350 houses the one or more roboticarms 330 such that a line of sight can be maintained from the operatorof the arm cart 350 to the portion of the surgical table to which theone or more robotic arms 330 are to be transferred during the approachof the arm cart 350 to the surgical table and the transfer of the one ormore robotic arms 330 to the surgical table.

The one or more robotic arms 330 can be docked and/or mounted to thesurgical table using a variety of different types of coupling and/ormounting methods and mechanisms. The arm cart 350 can employcorresponding coupling methods and mechanisms to provide efficienttransfer of the robotic arms 330 from the arm cart 350 to any suitablelocation on the surgical table and/or an arms support associated withthe surgical table. In this manner, the arm cart 350 and the surgicaltable can include a common interface such that the robotic arms 330 canbe efficiently and repeatedly coupled to and/or removed from thesurgical table and the arm cart 350.

FIGS. 3B-3G illustrate an example sequence of configurations suitablefor transferring the first robotic arm 330A from the arm cart 350 tosurgical table 380, which can be structurally and/or functionallysimilar to surgical table 100. As shown in FIGS. 3B and 3C, each of thefirst robotic arm 330A and the second robotic arm 330B is in a storageposition and can be moved in the X-direction within the arm container352. As shown in FIG. 3B-3E, the second robotic arm 330B can be movedtowards the back portion 362 of the arm cart 350 and the first roboticarm 330A can be moved towards the middle to provide sufficient clearancefor the first robotic arm 330A to pivot from the storage position aboutthe Y-axis in the Z-direction to a deployment position, in which all orat least a portion of the first robotic arm 330A is disposed outside ofthe arm container 352.

FIGS. 3F and 3G depict the first robotic arm 330A outside of armcontainer 352 sliding in the X-direction. When extended, for example, asshown in FIG. 3G, the first robotic arm 330A can mate with or otherwisebe coupled to the surgical table 380. In some embodiments, the base 354of the surgical table can be operable to adjust the height of the armcart 330 and/or interface with a base of the surgical table 380 to alignor otherwise facilitate the transfer of the first robotic arm 330A tothe surgical table 380.

In some embodiments, the first robotic arm 330A can unfold or otherwisealter its configuration after being coupled to the surgical table 380.Once coupled to the surgical table, the first robotic arm 330A can becontrolled via the surgical table 380 and operable to move and/orarticulate in any suitable manner.

In some instances after the first robotic arm 330A is coupled to thesurgical table 380 the arm cart 350 can be moved away from the surgicaltable 380 and set aside until a surgical procedure is complete. Then,the process shown in FIGS. 3B-3G can be reversed and the first roboticarm 330A placed back within the arm container 352 of the arm cart 350.

In some instances, after the first robotic arm 330A is coupled to thesurgical table 380, the arm cart 350 can be moved to another locationand the second robotic arm 330B can be transferred to the surgical table380 via a similar technique. In some instances, the arm cart 350 can beconfigured such that the first robotic arm 330A can be transferred tothe surgical table 380 when the front portion 364 is adjacent to thesurgical table 380 and the second robotic arm 330B can be transferred tothe surgical table 380 when the back portion 362 is adjacent to thesurgical table. In some embodiments, the first robotic arm 330A and thesecond robotic arm 330B can be operable to pivot in opposite direction.In other embodiments, one or both of the first robotic arm 330A and thesecond robotic arm 330B can be operable to pivot in any direction.

Although the robotic arms 330 are shown as movable in the X-direction,it should be understood that in other embodiments robotic arms 330 canbe movable in the Y-direction. For example, the arm cart 350 can beoperable to couple a robotic arm via a left or right portion of the armcart 350 (e.g., rather than via the front portion 364 and/or the backportion 362). For example, in some such embodiments, the robotic arms330 can be in a square arrangement within the arm container 352. In somesuch embodiments, at least one robotic arm can be operable to be coupledto the surgical table 380 via the front portion 364 and/or the backportion 362 of the arm cart 350, while at least one other robotic armcan be operable to be coupled to the surgical table 380 via the rightportion and/or the left portion of the arm cart.

Although FIGS. 3B-3G depict the first robotic arm 330A being positionedin front of the second robotic arm 330B and coupled to the surgicaltable 380 via the front portion 364 of the arm cart 350, it should beunderstood that in other instances, the second robotic arm 330B, whichis shown positioned to the rear of the first robotic arm 330A can beselected and coupled to the surgical table 380 prior to the firstrobotic arm 330A being coupled to the surgical table 380. For example,in some embodiments, the second robotic arm 330B can be coupled to thesurgical table via the rear portion 362 of the surgical cart 350 whilethe first robotic arm 330A remains in a storage position. In otherembodiments, the second robotic arm 330B can slide over the firstrobotic arm and be coupled to the surgical table 380 via the frontportion 364 of the surgical cart, while the first robotic arm 330Aremains in the storage position.

FIGS. 4A and 4B depict an arm cart 1050 and a surgical table 1000according to an embodiment similar to that shown and described abovewith reference to FIGS. 3A-3G. Each of the robotic arms 1035 of FIGS. 4Aand 4B is disposed within a respective arm cartridge 1030. The armcartridges 1030A and 1030B can be moved within the arms cart 1050 in amanner similar to the movements of the robotic arms 330 described abovewith reference to FIGS. 3A-3G. As shown in FIG. 4A, arm cartridge 1030Ais at least partially disposed outside the arm cart 1050. The armcartridge 1030A may include an actuator 1039 that can be moved to ejectthe robotic arm 1035 from the arm cartridge 1030A. In some embodimentsthe actuator 1039 can be moved by hand to eject the robotic arm 1035. Inother embodiments the robotic arm 1035 can be automatically ejected fromthe arm cartridge 1030A, for example, when the arm cart 1050 detects itis properly aligned with the surgical table 1000 and/or when a useractuates a motor or other suitable mechanism. In embodiments in whichrobotic arm 1035 is automatically ejected from the arm cartridge 1030A(e.g., without a user applying a physical force to the actuator 1039),the arm cartridge 1030A may not include actuator 1039. In otherembodiments, the robotic arm 1035 can be coupled to the surgical table1000 while the robotic arm 1035 is partially and/or completely disposedwithin the arm cartridge 1030A; the robotic arm 1035 can be withdrawnfrom the arm cartridge 1030A by moving the arm cart 1050 away from thesurgical table 1000.

As shown in FIG. 4B, the robotic arm 1035 has been ejected from the armcartridge 1030A, and is coupled to the surgical table 1000. The surgicaltable includes a coupling mechanism 1044 configured to receive therobotic arm 1035. In some embodiments, the surgical arm 1035 can beoperable to rotate about the coupling mechanism 1044. The surgical arm1035 can also receive power and/or control signals via the couplingmechanism 1044.

In addition or alternatively, the arm cartridge 1030 can include alatch, such as latch 939 shown in FIG. 9. FIG. 9 illustrates an arm cart950 and an arm cartridge 930, each of which can be structurally and/orfunctionally similar to the arm cart 1050 and/or the arm cartridge 1030,respectively. When the latch 939 is actuated, a robotic arm (not shownin FIG. 9) disposed within the arm cartridge 930 can be held in a fixedposition. When the latch is deactivated (e.g., by depressing the latchor via electronic means), the robotic arm can be free to move within thearm cartridge 930, for example such that the robotic arm can betransferred to a surgical table. FIG. 9 further depicts an embodiment inwhich the arm cartridge 930 is operable to pivot in a direction oppositeof that shown in FIGS. 2A-3G.

FIG. 5 is a flowchart of a method 400 of transporting and transferringsurgical robotic arms to a surgical table using a surgical robotic armcart, such as the arm carts 350 and/or 1050 shown and described above.The method 400 includes loading one or more robotic arms onto an armcart at 402. For example the one or more robotic arms can be folded intoa configuration suitable for transport and/or loaded into an armcartridge (e.g., arm cartridges 1030). Similarly stated the one or morerobotic arms and/or arm cartridges can be releasably coupled to an armsupport of the arm cart. The robotic arms can be disposed in a verticalconfiguration within the arm cart, for example, as shown in FIGS. 3A-3C.The arm support can be coupled to a base of the arm cart to support theone or more robotic arms above the base. The base can be freely movableon a support surface. The arm cart is then transported to an operatingarea and adjacent to a surgical table, at 404.

The robotic arm can be pivoted from a vertical orientation to ahorizontal configuration, at 406, for example, as shown in FIGS. 3C-3E.The robotic arm can be slid towards the surgical table, at 408, forexample, as shown in FIGS. 3E and 3F. In embodiments in which therobotic arm is disposed within a cartridge, the robotic arm can beejected the robotic arm from the cartridge, at 410, for example, asshown in FIGS. 4A and 4B. The robotic arm can be coupled to the surgicaltable, at 412. The robotic arm can then be released from the arm cart,at 414, and the arm cart is transported away from the operating area, at416.

In some embodiments, if a second robotic arm has been loaded onto thearm cart, the arm cart can couple a first robotic arm to the surgicaltable, release the first robotic arm from the arm cart, and then betransported to a location adjacent another portion of the surgicaltable. The second robotic arm can then be coupled to the surgical tablevia, by repeating steps 406-414.

FIGS. 6A and 6B are schematic front views of an arm cart 650 in twoconfigurations, according to an embodiment. FIG. 6C is a schematic sideview of the arm cart 650 in the configuration shown in FIG. 6B. The armcart 650 can include an arm container 652 and a base 654, which can bestructurally and/or functionally similar to the arm container 352 and/orthe base 354, respectively as shown and described above,

The arm cart 650 includes multiple robotic arms 630 coupled to a rotarymechanism 670. As shown, the rotary mechanism 670 is pentagonal in shapeand configured to receive four robotic arms 630, (a first robotic arm630A, a second robotic arm 630B, a third robotic arm 630C, and a fourthrobotic arm 630D), but it should be understood that the rotary mechanism670 can be any suitable shape and configured to receive any suitablenumber of robotic arms 630. The rotary mechanism 670 can be operable tomove robotic arms 630 and/or portions of the rotary mechanism configuredto receive robotic arms into a loading/unloading region 635. Roboticarms 630 can be loaded and/or unloaded from the arm cart 650 via theloading/unloading region 635.

FIG. 6A depicts the arm cart 650 in a storage configuration in which allfour of the robotic arms 630 are disposed within the arm container 652portion of the arms cart 650. Similarly stated, in the storageconfiguration no robotic arms 650 and/or portions of the rotarymechanism 670 operable to receive robotic arms may be disposed in theloading/unloading region 635. The rotary mechanism 670 can be turned(e.g., manually and/or by a drive mechanism, which may be mechanical,electrical, hydraulic, etc.), simultaneously moving all the robotic arms630 and such that the first robotic arm 630A is moved from a storageposition to a deployment position in the loading/unloading region 635,as shown in FIG. 6B. In some embodiments the first robotic arm 630A ispartially or completely outside the arm container 652 in the deploymentposition. FIG. 6C is a side view of the arm cart 650 in theconfiguration shown in FIG. 6B. For ease of illustration, the secondrobotic arm 630B and the fourth robotic arm 630D are not shown in FIG.6C.

FIG. 6D is a schematic illustration of the first robotic arm 630Acoupled to the rotary mechanism 670. The first robotic arm 630A andremaining robotic arms 630 (not shown in FIG. 6D) can be slidablycoupled to the rotary mechanism 670. In some embodiments, the roboticarms 630 can be releaseably latched to the rotary mechanism, such thatthe robotic arms are fixed relative to the rotary mechanism until thelatch is released. In this way, when a robotic arm 630 is disposed inthe loading/unloading region 635, that robotic arm 630 can be(optionally unlatched and) slid horizontally in a forward (or backward)direction such that that robotic arm 630 can be received by a surgicaltable 680 as illustrated, for example, in FIG. 6E. As shown in FIG. 6D,the robotic arm 630 includes a target joint J1, which can be coupled tothe surgical table 680 as discussed above. Once the robotic arm 630 iscoupled to the surgical table 680, the robotic arm 630 can decoupledfrom the rotary mechanism 670 and the arm cart 650 can be withdrawn.

Although FIGS. 6B, 6C, and 6E show and describe the first robotic arm630A being coupled to the surgical table 680, it should be understoodthat any of robotic arms 630 disposed within the arm cart 650 can beselected and coupled to the surgical table 680 by rotating the rotarymechanism 670 to the appropriate position. For example, in someembodiments, multiple robotic arms 630 can be coupled to one surgicaltable 680 for a procedure.

FIGS. 6B, 6C, and 6E also show and describe a robotic arm 630 beingdisposed outside of the arm container 652 when that robotic arms 630 isconfigured to be coupled to the surgical table 680. Similarly stated,FIGS. 6A-6C depict the loading/unloading region 635 being at leastpartially disposed outside of the arm container 652. It should beunderstood, however, that in other embodiments, the arm cart 650 caninclude a port or other similar opening through which the robotic arms630 can be slid. In such an embodiment, the rotary mechanism 670 can beturned such that the desired robotic arm 630 is aligned with the port,and that robotic arm 630 can be slid through the opening without thatrobotic arm having previously moved outside of the arm container 652.

FIG. 6F is a flowchart of a method of a method 1600 of transporting andtransferring surgical robotic arms to a surgical table using a surgicalrobotic arm cart, such as the arm carts 650 containing the rotarymechanism 670 as shown and described above with reference to FIGS.6A-6E. The method 1600 includes loading one or more robotic arms onto anarm cart at 1602. For example the one or more robotic arms can be foldedinto a configuration suitable for transport and/or coupled to a rotarymechanism. The arm cart is then transported to an operating area andadjacent to a surgical table, at 1604.

The rotary mechanism can be turned at 1606, for example, as shown inFIGS. 6A and 6B. Turning the rotary mechanism, at 1606, cansimultaneously move each of the robotic arms coupled to the rotarymechanism and can place one robotic arm in a deployment position (e.g.,as shown in FIGS. 6B and 6C). Optionally, a selected robotic arm can beslid towards the surgical table, at 1608, for example, as shown in FIGS.6D and 6E. In other embodiments, turning the rotary mechanism, can bringthe selected robotic arm into position to be coupled to the surgicaltable. In such an embodiment, the act of turning the rotary mechanismcan place the target joint J1 of a robotic arm in contact with acoupling mechanism of the surgical table and/or once a selected arm isin the deployment position the entire arm cart can be moved to placethat robotic arm in contact with a coupling mechanism of the surgicaltable.

The robotic arm can be coupled to the surgical table, at 1612. Therobotic arm can then be released from the arm cart, at 1614, and the armcart is transported away from the operating area, at 1616. In someembodiments, if a second robotic arm has been loaded onto the arm cart,the arm cart can couple a first robotic arm to the surgical table,release the first robotic arm from the arm cart, and then be transportedto a location adjacent another portion of the surgical table. The secondrobotic arm can then be coupled to the surgical table by repeating steps1606-1614.

FIG. 7A is a schematic illustration of a robotic arm 735 configured tobe disposed and/or stored within a cartridge 730, according to anembodiment. The cartridge can, in turn, configured to be stored withinan arm container of an arm cart, for example as shown and describedabove with reference to FIGS. 4A and 4B. As shown in FIG. 7, the roboticarm 735 can include multiple joints and can be articulated into acompact configuration for storage.

The robotic arm 735 includes a target joint J1, which can be disposedwithin a top portion of the arm cartridge 730 when the robotic arm 735is in the stowed configuration. In this way, the robotic arm 735 can beextracted from and/or placed within the arm cartridge 730 by the targetjoint J1. For example, the robotic arm 735 can be placed into or removedfrom the arm cartridge 730 through an open (or openable) top (or otherside) of the arm cartridge 730. The robotic arm 735 can be coupled to asurgical table via the target joint J1. For example, when transferringthe robotic arm between the arm cartridge 730 and the surgical table,the arm cartridge 730 can be positioned adjacent the surgical table andthe robotic arm 735 can be moved from the arm cartridge target jointJ1-first or moved to the arm cartridge 735 target joint J1 last. In thisway, the target joint J1 can be the first (and in some embodiments only)portion of the robotic arm 735 to contact the surgical table when therobotic arm 735 is transferred from the arm cartridge 730 to thesurgical table and/or the last portion of the robotic arm 735 to beenter the arm cartridge 730 when the robotic arm 735 is transferred tothe arm cartridge 730.

The arm cartridge 730 includes support features 732 operable to couplethe arm cartridge 730 to an arm cart. The support features can includebearings, hinges, cylindrical joints, rotary joints, and/or any othersuitable feature operable to allow the arm cartridge 730 to operable toallow the arm cartridge 730 to slide, pivot, rotate, or otherwise movewithin the arm cart.

FIG. 8 is an illustration of an arm cartridge 830 containing a roboticarm 835, according to an embodiment. The arm cartridge 830 can besimilar to the arm cartridge 730 described above. As illustrated in FIG.8, the arm cartridge 830 contains journals 832 and a handle 838. In astorage configuration, the arm cartridge 830 can be operable to bedisposed within an arm cart vertically (e.g., in an orientation in whichthe portion of the arm cartridge 830 containing the handle 838 isdisposed below the portion of the arm cartridge 830 containing thejournals 832). In use, the arm cartridge 830 can be grasped by thehandle 838 and rotated about the journals 832, for example to deploy orreceive the robotic arm 835.

While various embodiments have been described above, it should beunderstood that they have been presented by way of example only, and notlimitation. For example, as shown and described with reference to FIG.8, an arm cartridge 830 can include a handle. It should be understoodthat other arm cartridges and/or robotic arms described herein caninclude a handle or similar structure. It should further be understoodthat arm cartridges and/or robotic arms can be transported, loaded,unloaded, and otherwise manipulated by hand via a handle or similarstructure. For example, arm cartridges and/or robotic arms can bemanually removed from carried between locations, and/or loaded into armcarts by a handle or other similar structure.

Where methods described above indicate certain events occurring incertain order, the ordering of certain events may be modified.Additionally, certain of the events may be performed concurrently in aparallel process when possible, as well as performed sequentially asdescribed above

For example, in some embodiments, a robotic arm can be moved within thearm cart such that a coupling member associated with the robotic arm(e.g., a target joint J1) can be presented at a suitable location forengagement with a complementary coupling member associated with a table.For example, the arm cart can adjust the robotic arm to various heightsettings such that the robotic arm can cooperate with various surgicaltables and/or various coupling portions of a surgical table at varyingheights. For example, in some embodiments, the arm cart can perform afirst macro phase of height adjustment within the arm cart in which therobotic arm cart is set to a high, medium, or low height range. The armcart can then be moved into position relative to the surgical table suchthat the coupling member of the robotic arm is aligned with a couplingmember associated with the surgical table with respect to the X axisand/or Y axis. Then, in a second micro phase of height adjustment, thearm cart can move the coupling member of the robotic arm cart up or downalong the Z axis into engagement with the complementary coupling memberof the surgical table. After the arm cart sets the robotic arm at theappropriate macro setting of high, medium, or low, the arm cart can bemoved toward the surgical table. When the arm cart is properly alignedalong the X axis and the Y axis, the coupling member can be lowered(along the Z axis) by the arm cart into engagement with a couplingmember of the surgical table. Alternatively, when the arm cart isproperly aligned along the X axis and the Y axis, the robotic arm can beraised into engagement with a coupling member of the surgical table.

Where schematics and/or embodiments described above indicate certaincomponents arranged in certain orientations or positions, thearrangement of components may be modified. While the embodiments havebeen particularly shown and described, it will be understood thatvarious changes in form and details may be made. Any portion of theapparatus and/or methods described herein may be combined in anycombination, except mutually exclusive combinations. The embodimentsdescribed herein can include various combinations and/orsub-combinations of the functions, components and/or features of thedifferent embodiments described.

Some embodiments describe various features, axes, and/or directions as“horizontal” or “vertical.” In general, the term “vertical” should beunderstood as a direction approximately (e.g., +/−15 degrees) parallelto the direction of gravity. Similarly, “horizontal” should beunderstood as a direction approximately (e.g., +/−15 degrees) normal tothe direction of gravity and/or approximately parallel to a ground plane(e.g., a floor). Where components (e.g., robotic arms and/or armcartridges) are described as vertical or horizontal, it should beunderstood as referring to a major axis of the component being orientedin the vertical or horizontal direction. When used to describe a roboticarm, a robotic arm is “horizontal” if joints of the robotic arm areprimarily disposed in an approximately horizontal plane. A robotic armis “vertical” if joints of the robotic arm are primarily disposed in anapproximately vertical plane. When used to describe an arm cartridge, anarm cartridge is “vertical” if it contains (or is configured to contain)a robotic arm in a vertical orientation. An arm cartridge is“horizontal” if it contains (or is configured to contain) a robotic armin a horizontal orientation.

What is claimed is:
 1. A method, comprising: moving an arm cartcontaining a robotic arm from a storage location to a surgical table;rotating a rotary mechanism such that the robotic arm moves from a firstposition to a second position; and coupling the robotic arm to thesurgical table after the robotic arm is in the second position.
 2. Themethod of claim 1, further comprising sliding the robotic arm in ahorizontal direction towards the surgical table from its second positionto a third position before coupling the robotic arm to the surgicaltable.
 3. The method of claim 2, wherein the robotic arm is coupled tothe rotary mechanism via a latch, wherein the method further comprisesreleasing the robotic arm from the latch before sliding the robotic armin the horizontal direction.
 4. The method of claim 1, wherein therobotic arm is a first robotic arm and the first robotic arm is coupledto a first position of the surgical table, wherein the arm cart containsa second robotic arm, wherein the rotation of the rotary mechanism moveseach of the first and second robotic arms simultaneously from arespective first position to a respective second position, the methodfurther comprising: moving the arm cart from the first position of thesurgical table to a second position of the surgical table after couplingthe first robotic arm to the first position of the surgical table;rotating the rotary mechanism such that the second robotic arm movesfrom the respective second position to a respective third position; andcoupling the second robotic arm to the second position of the surgicaltable after the second robotic arm is in the respective third position.5. The method of claim 1, wherein the robotic arm is a first roboticarm, wherein the arm cart contains a second robotic arm, wherein therotation of the rotary mechanism moves each of the first and secondrobotic arms simultaneously from a respective first position to arespective second position, wherein both robotic arms are in a storageconfiguration within the arm cart when each of the robotic arms are intheir respective first positions and the first robotic arm is in adeployment position at least partially outside the arm cart when bothrobotic arms are in their respective second positions.
 6. The method ofclaim 5, wherein the second robotic arm is still in the storageconfiguration within the arm cart when the both robotic arms are intheir respective second positions.
 7. The method of claim 1, wherein therotary mechanism is pentagonal shaped with five sides, each of the fivesides is configured to couple to a robotic arm.
 8. An apparatus,comprising: one or more robotic arms, each robotic arm configured to becoupled to a surgical table; an arm cart configured to contain the oneor more robotic arms; and a rotary mechanism, each robotic arm from theone or more robotic arms configured to be coupled to the rotarymechanism, the rotary mechanism configured to spin to simultaneouslymove the one or more robotic arms from one or more first positions toone or more second positions.
 9. The apparatus of claim 8, wherein theone or more first positions are all storage positions.
 10. The apparatusof claim 8, wherein one position from the one or more second positionsis a deployment position.
 11. The apparatus of claim 10, wherein aremainder of positions that includes the one or more second positionsexcept for the one position are storage positions.
 12. The apparatus ofclaim 8, wherein a robotic arm from the one or more robotic arms is in afirst deployment position when the one or more robotic arms are in theone or more second positions, the robotic arm is configured to slidealong the rotary mechanism on a horizontal axis between the firstdeployment position and a second deployment position, the robotic arm isconfigured to be coupled to the surgical table in the second deploymentposition.
 13. The apparatus of claim 12, wherein the robotic arm iscoupled to the rotary mechanism via a latch that is configured torelease the robotic arm before the robotic arm slides along the rotarymechanism on the horizontal axis.
 14. The apparatus of claim 8, wherein:a robotic arm from the one or more robotic arms is in a first deploymentposition when the one or more robotic arms are in the one or more secondpositions, the robotic arm is configured to slide along the rotarymechanism on a horizontal axis between the first deployment position anda second deployment position, the robotic arm configured to be coupledto the surgical table in the second deployment position; and a remainingrobotic arms that includes the one or more robotic arms except for therobotic arm are in storage positions when the one or more robotic armsare in the one or more second positions.
 15. The apparatus of claim 8,wherein the rotary mechanism is pentagonal shaped with five sides, eachof the five sides is configured to couple to a robotic arm.
 16. A cartfor one or more robotic arms, the car comprising: a rotary mechanismconfigured to releasably couple to each robotic arm of the one or morerobotic arms and is configured to spin to simultaneously move the one ormore robotic arms from one or more first positions to one or more secondpositions.
 17. The cart of claim 16, wherein the one or more firstpositions are all storage positions.
 18. The cart of claim 16, whereinone position of the one or more second positions is a deploymentposition and a remainder of the second positions are storage positions.19. The cart of claim 16, wherein a robotic arm from the one or morerobotic arms is in a first deployment position when the one or morerobotic arms are in the one or more second positions, the robotic arm isconfigured to slide along the rotary mechanism on a horizontal axisbetween the first deployment position and a second deployment position,the robotic arm is configured to be coupled to a surgical table in thesecond deployment position.
 20. The cart of claim 19, wherein therobotic arm is coupled to the rotary mechanism via a latch that isconfigured to release the robotic arm before the robotic arm slidesalong the rotary mechanism on the horizontal axis.